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For solving the problem of sliding a lot on 4WD Formula E racing vehicle under different road conditions, this paper builds a traction control system combining Kalman filter for estimating speed and sliding mode control to improve the acceleration performance on the straight track, eliminae the driving wheel slip to ensure the stability and safety of the vehicle. The controller takes the slip rate as the variable, adjusting the torque of each driving wheel to ensure that the slip rate is controlled within the optimal range. Considering that obtaining accurate vehicle speed is the prerequisite for calculating the optimal slip rate, a Kalman filter is designed to achieve speed estimation. To solve the buffeting phenomenon, this paper gives an improved exponential convergence rate to ensure the stability. Through Matlab/Simulink and CARSIM simulation test, it is verified the effectiveness of the control system. With the real-vehicle test and application, the control system is ultimately verified to meet the requirements of rapid and stable acceleration for 4WD Formula E racing vehicle.